Object tracking method and system

ABSTRACT

A system for tracking at least one object configured to be transported by at least one vehicle may include at least one computer system. The at least one computer system may be configured to determine at least one location of the at least one vehicle and determine at least one location of the at least one object. The at least one computer system may be further configured to determine at least one location of at least one geofence adjacent the at least one vehicle based on the at least one location of the at least one vehicle. Also, the at least one computer system may be configured to determine whether the at least one object is located within the at least one geofence to determine whether a load of the at least one vehicle includes the at least one object.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation application of and claims the benefitof priority to U.S. patent application Ser. No. 15/368,976, filed onDec. 5, 2016, now U.S. Pat. No. 10,401,471, which is a continuationapplication of and claims the benefit of priority to U.S. patentapplication Ser. No. 14/174,642, filed on Feb. 6, 2014 (now issued asU.S. Pat. No. 9,547,079), the contents of all of which are herebyincorporated by reference in their entireties.

FIELD

The present disclosure relates generally to a tracking method andsystem, and more particularly, to an object tracking method and system.

BACKGROUND

The efficient, safe, and secure shipment of freight, including but notlimited to correspondence, materials, goods, components, and commercialproducts, is an important component in today's business, particularly inview of the international nature of most business enterprises. Freightoften is shipped nationally and internationally by means of severaldifferent transportation devices, such as trucks, trains, ships, andairplanes. Before the freight reaches its destination, it is oftenhandled by several different entities, such as truck companies,intermediate consolidators, railways, shipping companies, and airlines.

The parcels of freight may be exchanged between entities at differenttransfer points or hubs. At each hub, the parcels may be separated andtransferred by different vehicles to different destinations. The parcelsmay be unloaded from a vehicle and then loaded onto another vehicle oneor more times.

The driver of each vehicle may be provided with one or more documentswith identifying information for the parcels to assist in tracking thelocations of the parcels in a computer system. For example, when thedriver loads or unloads the parcels, the driver may scan the documentsso that the computer system may be updated regarding the locations ofthe parcels and whether the parcels have been loaded or unloaded.

Because the driver enters the identifying information for the parcelseach time the parcels are loaded or unloaded, this tracking process maybe time consuming and relatively inefficient. Also, there is anincreased risk of driver error, for example, if the driver forgets toscan the documents or scans the wrong documents, which may increase therisk of delay in shipping or loss of freight. Also, since theidentification information may be provided on the document handled bythe driver and not on the parcels themselves, there may be an increasedrisk of delay in shipping or loss of freight if the driver misplaces thedocuments.

The disclosed method and system is directed to overcoming one or more ofthe problems set forth above.

SUMMARY

In accordance with one example, a system for tracking at least oneobject configured to be transported by at least one vehicle may includeat least one computer system. The at least one computer system may beconfigured to determine at least one location of the at least onevehicle and determine at least one location of the at least one object.The at least one computer system may be further configured to determineat least one location of at least one geofence adjacent the at least onevehicle based on the at least one location of the at least one vehicle.Also, the at least one computer system may be configured to determinewhether the at least one object is located within the at least onegeofence to determine whether a load of the at least one vehicleincludes the at least one object.

In accordance with another example, a method for tracking at least oneshipment using at least one computer system may include determining,using the at least one computer system, at least one location of atleast one forklift. The method may also include determining, using theat least one computer system, at least one location of the at least oneshipment. The method may further include determining, using the at leastone computer system, at least one location of at least one geofence infront of the forklift based on the at least one location of the at leastone forklift. Also, the method may include determining, using the atleast one computer system, whether the at least one shipment is locatedwithin the at least one geofence to determine whether a load of the atleast one forklift includes the at least one shipment.

In accordance with a further example, a non-transitory computer-readablemedium may contain instructions that, when executed by a computer,perform a method for tracking at least one object configured to betransported by at least one vehicle. The method may include determiningat least one location of the at least one vehicle, determining at leastone location of the at least one object, and determining at least onelocation of at least one geofence adjacent the at least one vehiclebased on the at least one location of the at least one vehicle. Themethod may also include determining whether a load of the at least onevehicle includes the at least one object based on whether the at leastone object is located within the at least one geofence.

It is to be understood that both the foregoing general description andthe following detailed description contains examples only and is notrestrictive of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic representation of a worksite, according to anembodiment;

FIG. 2 is a schematic representation of a top view of a forkliftcarrying a shipment on a pallet, according to an embodiment;

FIG. 3 is a schematic representation of a tracking system, according toan embodiment;

FIG. 4 is a flow chart showing steps for determining whether an objectis loaded onto a vehicle, according to an embodiment;

FIG. 5 is an image illustrating a screenshot from a display device priorto determining that an object is loaded onto a vehicle, according to anembodiment;

FIG. 6 is an image illustrating a screenshot from a display device afterdetermining that the object of FIG. 5 is loaded onto the vehicle; and

FIG. 7 is an image illustrating a screenshot from a display device afterdetermining that the object of FIG. 5 is unloaded from the vehicle.

DETAILED DESCRIPTION

Reference will now be made in detail to example embodiments that areillustrated in the accompanying drawings. Wherever possible, the samereference numbers will be used throughout the drawings to refer to thesame or like parts.

FIG. 1 illustrates a worksite 10, according to an embodiment. Theworksite 10 may include one or more areas where one or more vehicles,such as forklifts 20, may load or unload one or more objects, such asshipments 30, packages, or other freight. For example, one forklift 20may be used to pick up one or more shipments 30 at one location at theworksite 10 and transport the shipment(s) 30 to another location at theworksite 10. It is to be understood, however, that vehicles other thanforklifts may be used to transport the shipment(s) 30. For example,other manned, semi-autonomous, or autonomous (unmanned) vehicles may beused to transport the shipment(s) 30, such as carts, trailers, motorvehicles, or other vehicles.

The worksite 10 may be at least partially located in a warehouse orother structure or building, as shown in FIG. 1. Alternatively, theworksite 10 may be partially or entirely outdoors. The worksite 10 mayinclude one or more locations or zones where the shipments 30 may beunloaded and stored, either temporarily or for longer periods of time.For example, depending on the layout of the worksite 10, the forklifts20 may transport the shipments 30 to and from different lanes 12,loading bays, docks 14, or other storage areas, or to and from othervehicles 16 (e.g., trailers, trucks, aircraft, ships, or other deliveryvehicles, etc.) at the worksite 10. Although the worksite 10 shown inFIG. 1 includes a warehouse and surrounding area, it is to be understoodthat the worksite 10 may cover a larger area including multiplebuildings.

In an embodiment, the worksite 10 may be a receiving and/or shippingfacility, distribution center, or hub where the shipments 30 arereceived and/or shipped. One or more of the forklifts 20 may transportthe shipments 30 within the worksite 10 so that the shipments 30 areloaded into the appropriate delivery vehicles leaving the worksite 10 orloaded into the appropriate storage areas at the worksite 10.Alternatively, it is to be understood that objects other than shipmentsmay be transported and tracked using the systems and methods describedbelow. Other inventory and objects may be tracked, depending on theapplication.

The shipments 30 may be placed on and supported by a pallet 31, whichmay be loaded onto and unloaded from the forklifts 20. Alternatively,the forklifts 20 may include or carry another type of platform orsurface on which the shipments 30 may be placed.

As described in further detail below, the forklifts 20 may be incommunication with a worksite computer system 40 (FIG. 3) associatedwith, for example, a package or mail delivery company, or other deliverycompany, or another worksite entity. The worksite computing system 40may include, for example, a server computer, a desktop computer, alaptop computer, a personal digital assistant (PDA), a hand-held device(e.g., a smartphone), or another suitable computing device known in theart. The worksite computing system 40 may be situated on or near theworksite 10, such as in a worksite headquarters (e.g., an onsite officeor trailer), or at a remote location, such as at a corporateheadquarters.

FIG. 2 illustrates the forklift 20 carrying the shipment 30 on thepallet 31, according to an embodiment. The forklift 20 may include forks21 or another implement at a front end of the forklift 20 that engagethe pallet 31 or shipment 30. The forklift 20 may also include a liftmechanism for lifting the forks 21 or other implement, thereby liftingthe pallet 31 and/or shipment 30.

Each forklift 20 and shipment 30 may be provided with one or more radiofrequency identification (RFID) tags (e.g., forklift tags 22 and/orshipment tags 32) or other wireless devices (e.g., global positioningsystem (GPS) devices) configured to transfer information. The tags 22,32 or other devices may be applied using adhesive to the forklift 20 orshipment 30, e.g., using a label that is embedded or printed with thetags 22, 32. Alternatively, the tags 22, 32 or other devices may beapplied using other attachment methods. For example, when applying thetags 22 to vehicles, such as the forklifts 20, the tags 22 may beapplied using screws, rivets, welds, etc. For the forklift tag 22, theinformation may include identification information (e.g., a uniqueidentifier or other information identifying the forklift 20). For theshipment tag 42, the information may include identification information(e.g., a unique identifier or other information identifying the shipment30 and/or the contents within the shipment 30) or other trackinginformation (e.g., the origin, interim, or destination locations, orother information associated with the shipment 30). The uniqueidentifier for the shipment 30 may include one or more alphanumericcharacters and/or symbols assigned to the shipment 30, such as aprogressive number (PRO number) for tracking the shipment 30 as known inthe art.

Each forklift 20 may include one or more forklift tags 22. The forklifttag(s) 22 may be placed at a central location of the forklift 20, asshown in FIG. 2. Although FIG. 2 shows a single forklift tag 22, eachforklift 20 may include a plurality of forklift tags 22, e.g., eighttags 22. Some of the tags 22 may be located closer to the top of theforklift 20 and some of the tags 22 may be located closer to the wheelsof the forklift 20. Alternatively, the forklifts 20 may each includefewer than eight tags 22 (e.g., two or four tags) or more than eighttags 22. As described below, the plurality of the forklift tags 22 maybe used to identify a center point CP of the forklift 20 for use inidentifying the location of the forklift 20.

Each forklift 20 may further include an onboard system configured toallow the operator to monitor various operations of the forklift 20. Forexample, each forklift 20 may include a control system in communicationwith a weight determining device 23, a direction determining device 24,an operator display device 25, and a communication device 26.

The weight determining device 23 may be configured to measure a weightof the load carried by the forklift 20, e.g., the load carried by theforks 21. For example, the weight determining device 23 may include oneor more weight sensors, and may be provided on the forks 21. When theforks 21 lift the pallet 31 and the shipment 30, the weight determiningdevice 23 may determine the weight of the pallet 31 and the shipment 30.

The direction determining device 24 may be configured to determine anorientation or a direction of travel 28 of the forklift 20. For example,the direction determining device 24 may include a digital compass andmay indicate the direction of travel 28 in a frame of reference definedby cardinal directions (e.g., north, south, east, west), intercardinaldirections (e.g., northeast, northwest, southeast, southwest), and/orintermediate directions between the cardinal and intercardinaldirections.

The operator display device 25 may include one or more monitors (e.g., aliquid crystal display (LCD), a cathode ray tube (CRT), a plasmadisplay, a touch-screen, a portable hand-held device (e.g., asmartphone), a projection display device (e.g., a heads-up display), orany such display device known in the art) configured to actively andresponsively display information to the operator of the forklift 20. Theoperator display device 25 may display images in response to signalsprovided by the control system of the forklift 20 and informationreceived from the worksite computer system 40, as described below.

The communication device 26 may include any device configured tofacilitate communications between the forklift 20 and the worksitecomputer system 40. For example, the communication device 26 may includean antenna, a transmitter, a receiver, and/or any other devices thatenable the forklift 20 to wirelessly exchange information (e.g., signalsfrom the control system, the weight determining device 23, the directiondetermining device 24 of the forklift 20, etc.) with the worksitecomputer system 40 via a communication link.

FIG. 3 illustrates a tracking system 50 for tracking the forklifts 20and the shipments 30 at the worksite 10, according to an embodiment. Forexample, the tracking system 50 may associate each shipment 30 to theforklift(s) 20 on which the shipment 30 is loaded. The tracking system50 may automatically associate the shipments 30 with the forklifts 20,e.g., without relying on input from the operators of the forklifts 20.

The tracking system 50 may include the worksite computer system 40described above. For example, the worksite computer system 40 mayinclude a memory, a processor, and a display for presenting one or moremaps and other tracking information associated with the forklifts 20 andthe shipments 30 described below.

The processor of the worksite computer system 40 may be configured toreceive data as described below and process information stored in thememory. The processor may be configured with different types of hardwareand/or software (e.g., a microprocessor, a gateway, a product linkdevice, a communication adapter, etc.). Further, the processor mayexecute software for performing one or more functions consistent withthe disclosed embodiments. The processor may include any appropriatetype of general purpose microprocessor, digital signal processor, ormicrocontroller.

The worksite computer system 40 may include a transceiver device withone or more devices that transmit and receive data, such as dataprocessed by the processor and/or stored by the memory. The memory maybe configured to store information used by the processor, e.g., computerprograms or code used by the processor to enable the processor toperform functions consistent with disclosed embodiments, e.g., theprocesses described below. The memory may include one or more memorydevices including, but not limited to, a storage medium such as aread-only memory (ROM), a flash memory, a dynamic or static randomaccess memory (RAM), a hard disk device, an optical disk device, etc.

The tracking system 50 may also include one or more readers 52 orinterrogators for obtaining information from the forklift and shipmenttags 22, 32. For example, the readers 52 and the forklift and shipmenttags 22, 32 may be associated with a real-time locating system (RTLS) asknown in the art. In the embodiment shown in FIG. 1, one of the readers52 may be mounted to a wall at the worksite 10. Alternatively or inaddition, the reader(s) 52 may be mounted to a ceiling, and/or mountedor placed on a surface at or near the worksite 10. The number andlocation of the reader(s) 52 may depend on the relative strength of thesignals from the forklift and shipment tags 22, 32. In some embodiments(e.g., when the tags 22, 32 supply relatively stronger signals), fewerreaders 52 may be provided and may be located on or near the worksite10, or remotely from the worksite 10. For example, the tags 22, 32 maybe configured to emit ultra high frequency (UHF) radio waves.Alternatively (e.g., when the tags 22, 32 supply relatively weakersignals), an array of readers 52 may be provided and may be located onand/or near the worksite 10, e.g., at spaced apart intervals along theceiling and/or walls of the worksite 10.

The forklift and shipment tags 22, 32 may be RFID tags, which may beactive, semi-passive, or passive. Passive tags may be powered entirelyby signals from the reader 52. Active and semi-passive tags may includea power source (e.g., a battery) to power its circuits. Semi-passivetags may also rely on the reader 52 to supply its power for certainfunctions, such as communicating with the reader 52. The readers 52 mayuse wireless non-contact radio-frequency electromagnetic fields totransfer information for the purpose of automatically identifying andtracking the forklifts 20 and shipments 30 to which the tags 22, 32 areattached. For example, each reader 52 may periodically send signals inan area surrounding the reader 52 and receive responses from the tags22, 32 that are located within the area surrounding the reader 52.

The worksite computer system 40 may be connected, e.g., via a network,to the communication devices 26 of the forklifts 20 and the readers 52.The network may be any type of wireline or wireless communicationnetwork for exchanging or delivering information or signals, such as theinternet, a wireless local area network (LAN), or any other network.Thus, the network may be any type of communications system known in theart.

The worksite computer system 40 may store location information for eachreader 52 and may determine the locations of the tags 22, 32 based onthe responses from the tags 22, 32 (e.g., including identificationinformation for the respective tags 22, 32) and based on which reader(s)52 received responses from the tags 22, 32. The locations of the tags22, 32 may be determined and updated periodically (e.g., every 0.5 or 1second).

For example, when one of the readers 52 receives a response from one ofthe shipment tags 32, the reader 52 may communicate the identificationinformation for the shipment tag 32 and the identification informationfor the reader 52 to the worksite computer system 40. Other informationmay also be communicated to the worksite computer system 40, such as thestrength of the response and/or the angle at which the response from theshipment tag 32 is received. Based on the communicated information, theworksite computer system 40 may determine the location of the tag 32.For example, the worksite computer system 40 may determine the locationof the reader(s) 52 that received the response(s) from the tag 32, whichmay then be used with the determined strength and/or angle of theresponse(s) received from the tag 32 to determine the location of thetag 32.

Alternatively, the locations of the tags 22, 32 may be determined usingthe readers 52 and communicated from the readers 52 to the worksitecomputer system 40. As another alternative, GPS devices may be usedinstead of RFID tags 22, 32 and readers 52, and the GPS devices may beapplied to the forklifts 20 and shipments 30 to determine theirlocations and communicate their locations to the worksite computersystem 40.

The worksite computer system 40 may store a map of the worksite 10 thatindicates the locations of the forklifts 20 and shipments 30. Thelocations of each shipment 30 may be indicated by the location of theshipment tag 32 placed on the shipment 30. The locations of eachforklift 20 may be indicated by the location of the forklift tag(s) 22placed on the forklift 20.

As described above and shown in FIG. 2, each forklift 20 may includemultiple tags 22. The tags 22 may be used to identify the center pointCP of the forklift 20 for use in tracking the location of the forklift20. For example, for each tag 22 on the forklift 20, the worksitecomputer system 40 may determine the location of the tag 22 multipletimes and may calculate a median for each tag 22 based on the multipledetermined locations. The worksite computer system 40 may then determinean average of the medians calculated for the tags 22 on the forklift 20to determine the location of the center point CP of the forklift 20.

The worksite computer system 40 may create or determine a geofence Glocated in front of each forklift 20. The geofence G is a virtualperimeter that may represent an approximate size of a pallet loaded ontothe forklift 20. The geofence G may have a length GL and width GW. Forexample, the geofence G may be approximately the size of a standardpallet recognized by the International Organization for Standardization(ISO), Grocery Manufacturers' Association (GMA), European PalletAssociation (EPAL), or other standard-setting organization orassociation. In an embodiment, the geofence G may be approximately 1000millimeters (mm) wide by approximately 1000 mm long. Alternatively, thegeofence G may be approximately 1219 mm wide by approximately 1016 mmlong; approximately 1016 mm wide by approximately 1219 mm long;approximately 1000 mm wide by approximately 1200 mm long; approximately1165 mm wide by approximately 1165 mm long; approximately 1067 mm wideby approximately 1067 mm long; approximately 1100 mm wide byapproximately 1100 mm long; or approximately 800 mm wide byapproximately 1200 mm long. Alternatively, the geofence G may be largerthan the size of a standard pallet or may be another size that isunrelated to the size of a pallet. The worksite computer system 40 mayalso allow a user to select a size of the geofence G from a variety ofsizes, or input the size. Also, the size of the geofence G may changedynamically (e.g., grow or shrink), as described below.

The geofence G may be located a distance GD in front of the center pointCP of the forklift 20. The worksite computer system 40 may determine thedistance GD based on characteristics of the forklift 20, e.g., thelength of the forklift 20, the distance between the center point CP ofthe forklift 20 and the forks 21 or other features at the front of theforklift 20, etc. In an embodiment, the distance GD may be approximately1500 mm. Alternatively, the size and location of the geofence G may bedetermined based on the size and location of other types of loads thatmay be carried by the forklift 20 as known in the art.

As shown in FIG. 2, the distance GD may be measured along a center lineCL of the forklift 20, such as a line extending from the center point CPalong the direction of travel 28. The geofence may extend along thecenter line CL in front of the forklift 20 starting at distance GD andending at distance (GD+GL). The geofence G may extend along a distanceGW/2 (half of the width GW of the geofence G) on each side of the centerline CL so that the geofence G extends the total width GW.

The map of the worksite 10 stored on the worksite computer system 40 mayindicate the location of the geofences G for the forklifts 20 as well asthe locations of the forklifts 20 and shipments 30. The locations of thegeofences G may be periodically updated each time the locations of theforklifts 20 are updated (e.g., every 0.5 or 1 second). The map may becommunicated to the operator display device 25 via communication device26 to allow the operator of the forklift 20 to view the locations of theforklift 20 (e.g., the center point CP of the forklift 20), the geofenceG for the forklift 20, and the shipments 30 surrounding the forklift 20.

As described above, the worksite computer system 40 may determine thelocations of the forklifts 20 (e.g., the center points CP) and createthe geofence G. Alternatively, the control systems of the forklifts 20may determine the locations of the respective forklifts 20 andrespective geofences G, and may communicate the information to theworksite computer system 40.

The geofence G may be used by the tracking system 50 to determinewhether a shipment 30 is loaded onto or unloaded from the forklift 20.With reference to FIG. 4, the operation of the tracking system 50 willnow be described.

The worksite computer system 40 may continuously monitor the locationsof the forklifts 20 and the shipments 30 at the worksite 10 and theweight of loads on the forklifts 20 (step 60). As described above, thelocation of each forklift 20 and shipment 30 may be determined using theforklift and shipment tags 22, 32 and the readers 52. The weight of theload on each forklift 20 may be determined using the weight determiningdevice 23 for the forklift 20.

The worksite computer system 40 may also continuously determine thegeofences G for each forklift 20 (step 62). As described above, thelocation and orientation of the geofences G may be determined based onthe location of the center point CP for the respective forklifts 20, thedirection of travel 28 of the respective forklifts 20, thecharacteristics of the respective forklifts 20, etc. The worksitecomputer system 40 may continuously perform steps 60 and 62 while thesteps 64, 66, and 68 are being performed.

The following description in connection with FIG. 4 relates to thedetection of the loading and unloading of one shipment 30 from oneforklift 20. It is understood, however, that the following steps may beperformed simultaneously for multiple shipments 30 and multipleforklifts 20.

The worksite computer system 40 may determine whether the shipment 30enters or is located within the geofence G of the forklift 20 (step 64).For example, the worksite computer system 40 may determine if theshipment tag 32, the location of which is determined in step 60, entersthe geofence G for the forklift 20. If the worksite computer system 40does not determine that the shipment 30 enters the geofence G (step 64;no), then the worksite computer system 40 may determine that theshipment 30 has not been loaded onto the forklift 20. Then, the worksitecomputer system 40 may continue to monitor the location of the forklift20 and the shipment 30, and the weight of load on the forklift 20 (step60).

If the worksite computer system 40 determines that the shipment 30enters the geofence G (step 64; yes), then the worksite computer system40 may determine whether the weight of load on the forklift 20 isgreater than a threshold (step 66). The threshold may be variable. Forexample, the threshold may be defined and adjusted based on input from auser into the worksite computer system 40. For example, the thresholdmay be approximately 35 pounds, approximately 20 pounds, approximately50 pounds, etc. Comparing the determined weight to the threshold may beuseful for verifying that the shipment 30 has in fact been loaded ontothe forklift 20. Certain RTLS systems may experience jitter or errorwhen determining the locations of the tags 22, 32. For example, theforklift 20 may be positioned so that the geofence G is next to anunloaded shipment, e.g., within one foot, and if there is jitter of onefoot or more, the worksite computer system 40 may indicate that theshipment 30 has entered the geofence G although it has not actually beenloaded onto the forklift 20. By confirming that the weight of the loadon the forklift 20 is greater than the threshold, the worksite computersystem 40 may determine whether the shipment 30 is actually loaded ontothe forklift 20.

If the worksite computer system 40 does not determine that the weight ofthe load on the forklift 20 is greater than the threshold (step 66; no),then the worksite computer system 40 may determine that the shipment 30is not actually loaded onto the forklift 20. Then, the worksite computersystem 40 may continue to monitor the location of the forklift 20 andthe shipment 30, and the weight of the load on the forklift 20 (step60). If the worksite computer system 40 determines that the weight ofthe load on the forklift 20 is greater than the threshold (step 66;yes), then the worksite computer system 40 may determine that theshipment 30 is loaded onto the forklift 20 (step 68).

Also, if the worksite computer system 40 determines that there is a loadon the forklift 20 that exceeds the threshold, but that no shipment 30entered the geofence G, the worksite computer system 40 may expand thegeofence G, e.g., by an increment (e.g., 5, 10, or 20 mm, or otherdistance) from the front, rear, and/or sides of the geofence G. Afterexpanding the geofence G, the worksite computer system 40 may determineif a shipment 30 is detected in the geofence G. If no shipment 30 isdetected, the geofence G may be expanded repeatedly by increments untila shipment 30 is detected in the geofence G. This may allow the worksitecomputer system 40 to detect that shipments 30 of non-standard size areloaded onto the forklift 20. For example, relatively wider or longershipments may be loaded on the forklift 20 in such a way that theshipment tag 32 may be outside the geofence G. By dynamically growingthe geofence G as described above, non-standard sized shipments 30 maybe determined to be loaded onto the forklift 20. Alternatively, or inaddition, the worksite computer system 40 may prompt the forkliftoperator to check if the shipment 30 is missing a shipment tag 32 orprompt the forklift operator to move closer to the area of coverage ofthe readers 52.

After the shipment 30 is loaded, the worksite computer system 40 maydetermine the location where the forklift 20 is delivering the shipment30 and may communicate the delivery location to the control system ofthe forklift 20 via the communication device 26. The delivery locationmay then be displayed on the operator display device 25 for viewing bythe forklift operator, for example, using a message box and/or byhighlighting the area on a map. The forklift operator may then drive theforklift 20 to the delivery location to unload the shipment 30.

The worksite computer system 40 may continue to monitor the locations ofthe forklifts 20 and the shipments 30 at the worksite 10, and the weightof loads on the forklifts 20. To detect when the shipment 30 is unloadedfrom the forklift 20, the worksite computer system 40 may determine whenthe weight of the load on the forklift 20 drops below the threshold orgoes to zero, e.g., using the weight determining device 23.

The worksite computer system 40 may store information about the loadingand unloading of shipments 30 from the forklifts 20. The worksitecomputer system 40 may also communicate the information about theloading and unloading of shipments 30 to the forklifts 20 via thecommunication devices 26 so that the information may be displayed on theoperator display devices 25.

Various screenshots of the operator display device 25 during theoperation of the forklift 20 are shown in FIGS. 5-7 and described below,according to an embodiment. The control system of the forklift 20 mayrun software, such as a cross dock client, for displaying information tothe operator relating to the loading and unloading of shipments 30 fromthe forklift 20. The embodiments of the screenshots shown in FIGS. 5-7and described below are exemplary and not intended to be limiting. Someof the information provided in the screenshots may be omitted or may beshown in a different format (e.g., using a different layout). Otherinformation may be added as desired.

FIG. 5 is an image illustrating a screenshot 70 of the operator displaydevice 25 of one forklift 20, according to an embodiment. As describedbelow, screenshot 70 indicates that no shipments 30 are loaded onto theforklift 20. Screenshot 70 may include a map view box 72, a mapinformation box 74, a weight information box 76, one or more loadidentification boxes 78, and/or an event information box 80.

The map view box 72 may show at least a portion of the map of theworksite 10 stored on the worksite computer system 40. For example, inthe embodiment shown in FIG. 5, the map view box 72 shows only a portionof the map of the worksite 10 surrounding the center point CP of theforklift 20. The map view box 72 may change as the forklift 20 travelsthrough the worksite 10 and as the shipments 30 located near theforklift 20 are moved to other locations. The map view box 72 may alsoindicate a general direction of travel of the forklift 20 (e.g., basedon the direction determining device 24 for the forklift 20 as describedabove) and the location of the center point CP of the forklift 20 (e.g.,based on the locations of the forklift tags 22 as described above). Forexample, in screenshot 70, “W” shown in the top right corner of the mapview box 72 indicates the direction “west,” and therefore the forklift20 is generally traveling west. The map view box 72 may also indicatecoordinates of the center point CP in the worksite 10 with respect to alocal positioning system.

The map view box 72 may indicate the location of the geofence G for theforklift 20 and other objects along the path of the forklift 20. The mapview box 72 may also indicate the locations of the shipments 30surrounding the forklift 20 within the area represented by the map viewbox 72 (e.g., based on the locations of the shipment tags 32 asdescribed above). Accordingly, the map view box 72 may identify andlocate for the operator the shipments 30 and other objects surroundingthe forklift 20.

The map view box 72 may illustrate the location of the forklift 20 andthe locations of the shipments 30 using different colored dots, e.g., ablack dot for the forklift 20 (e.g., the center point CP), red dots forshipments 30 loaded onto the forklift 20, and blue dots for othershipments 30. For example, in screenshot 70, since no shipments 30 havebeen loaded onto the forklift 20, the map view box 72 may illustrate thecenter point CP of the forklift 20 using a black dot, and may illustratethe unloaded shipments surrounding the forklift 20 using blue dots.

Although the map view box 72 may illustrate the locations of otherforklifts 20 surrounding the forklift 20, the operator may understandthat the forklift 20 being operated is indicated by the black dot in thecenter of the map view box 72. Thus, each forklift 20 may have anoperator display device 25 with a map view box 72 that positions thecenter point CP of the particular forklift 20 at the center of its mapview box 72.

The map information box 74 may indicate information about the shipments30 identified in the map view box 72. The map information box 74 mayindicate the identifier for each shipment 30, and/or a general zone orarea where the shipment 30 is located (e.g., the lane, dock, or otherarea in the worksite 10). The worksite 10 may be divided into generalzones represented by one or more alphanumeric characters and/or symbols.For example, in the embodiment shown in FIG. 5, screenshot 70 identifiesthe three shipments 30 shown in the map view box 72 using theiridentifiers (e.g., PRO numbers). Also, the shipments 30 are identifiedas being located in zone “L77” (e.g., lane 77 at the worksite 10).

The weight information box 76 may show the weight of the load on theforklift 20, such as the weight of the pallet 31 and the shipment 30determined using the weight determining device 23. The weight may beindicated in pounds. The weight information box 76 may be updatedcontinuously using the weight determining device 23 (e.g., every 0.5 or1 second). In the embodiment shown in FIG. 5, screenshot 70 indicatesthat there is no weight or load on the forklift 20.

The load identification box(es) 78 may indicate the shipments 30 (ifany) that are loaded onto the forklift 20, e.g., using the identifiersfor the loaded shipments 30. In the embodiment shown in FIG. 5,screenshot 70 has three load identification boxes 78, which maytherefore identify up to three different shipments 30 loaded onto theforklift 20. However, screenshot 70 indicates “NO PRO” (no PRO number)in each of the three load identification boxes 78, thereby indicatingthat there are no shipments 30 loaded onto the forklift 20.Alternatively, screenshot 70 may include fewer or more than three loadidentification boxes 78.

The event information box 80 may continuously log the loading andunloading of shipments 30 using the forklift 20 into the zones in theworksite 10, as described below in connection with FIGS. 6 and 7. Forexample, the event information box 80 may provide information about theevent that occurred (e.g., by showing “L” to indicate the loading of theshipment into a zone or by showing “U” to indicate the unloading of theshipment from a zone, by indicating the zone where the load or unloadevent occurred, and by identifying the shipment that was loaded orunloaded). Thus, the event information box 80 may show a history of loadand unload events associated with the forklift 20.

FIG. 6 is an image illustrating another screenshot 90 of the operatordisplay device 25 of the forklift 20 after the forklift 20 loads ashipment 92 and is traveling to a location for unloading the shipment92, according to an embodiment. Screenshot 90 shown in FIG. 6 may besimilar to screenshot 70 shown in FIG. 5, with the differences describedbelow.

In the embodiment of FIG. 6, the worksite computer system 40 maydetermine that shipment 92 enters the geofence G for the forklift 20 andthat the weight determining device 23 measures that the load on theforklift 20 is 890 pounds, as reflected in the weight information box76. The worksite computer system 40 may determine that 890 pounds isgreater than the threshold (e.g., approximately 35 pounds), andtherefore may determine that the shipment 92 is loaded onto the forklift20. The worksite computer system 40 may then communicate informationabout the load event to the forklift 20 to display to the operator onthe operator display device 25 (e.g., in screenshot 90).

The shipment 92 that is loaded onto the forklift 20 may be identified inone of the load identification boxes 78 by its PRO number 2205186911.The other two load identification boxes 78 may indicate “NO PRO” (no PROnumber), thereby indicating that there are no other shipments 30 loadedonto the forklift 20.

The event information box 80 may log the loading of the shipment 92 ontothe forklift 20 or, in other words, the “unloading” of the shipment 92from a zone of the worksite 10. Specifically, information may be addedto the event information box 80 that may identify where the unload eventoccurred (zone L77), the letter “U” to indicate the unloading of theshipment 92 from zone L77, and the PRO number (2205186911) for theshipment 30.

Because the shipment 92 is loaded onto the forklift 20, the depiction ofthe geofence G in map view box 72 may be removed. The loaded shipment 92may be illustrated using a red dot, and the unloaded shipment 30indicated in map view box 72 may be illustrated using a blue dot. Also,in the embodiment of FIG. 6, the map information box 74 may identify theshipments 30, 92 as located in zone L77 (e.g., lane 77 at the worksite10).

FIG. 7 is an image illustrating another screenshot 100 of the operatordisplay device 25 of the forklift 20 after the forklift 20 unloadsshipment 92, according to an embodiment. Screenshot 100 shown in FIG. 7may be similar to screenshot 90 shown in FIG. 6, with the differencesdescribed below.

In the embodiment of FIG. 7, the worksite computer system 40 maydetermine that the weight determining device 23 measures no load on theforklift 20, as reflected in the weight information box 76, andtherefore that the shipment 92 is unloaded from the forklift 20. Theworksite computer system 40 may then communicate information about theunload event to the forklift 20 to display to the operator on theoperator display device 25 (e.g., in screenshot 100).

All of the load identification boxes 78 may indicate “NO PRO” (no PROnumber), thereby indicating that there are no shipments 30 loaded ontothe forklift 20. Because there are no shipments 30 loaded onto theforklift 20, the geofence G is shown again in the map view box 72. Theunloaded shipment 92 may be illustrated with the other unloaded shipment30 using blue dots.

The event information box 80 may log the unloading of the shipment 92from the forklift 20 or, in other words, the “loading” of the shipment92 into a zone of the worksite 10. Specifically, information may beadded to the event information box 80 that may identify where the loadevent occurred (zone D79, e.g., dock 79 at the worksite 10), the letter“L” to indicate the loading of the shipment 92 into zone D79, and thePRO number (2205186911) for the shipment 92.

Also, in the embodiment of FIG. 7, the map information box 74 may listthe shipments 30, 92 shown in map view box 72, and may identify one ofthe shipments as located in zone L77 and one of the shipments (e.g.,shipment 92) as located in zone D79.

Although the forklifts 20 and shipments 30 may be moved throughout theworksite 10, the tracking system 50 may provide information regardingthe loading and unloading of the shipments 30 more accurately andefficiently. The tracking system 50 may identify when shipments 30 areloaded onto forklifts 20 without relying on the forklift operator toexit the forklifts 20 to enter or scan information each time shipments30 are loaded and unloaded. Instead, the tracking system 50 mayautomatically determine whether the shipment 30 is loaded onto theforklift 20, and forklift operators may remain seated in the forklifts20. As a result, time and labor costs may be reduced.

The tracking system 50 may track the shipments 30 directly using theshipment tags 32 rather than relying on forklift operator input. As aresult, the tracking system 50 may provide tracking information that ismore reliable and accurate. This may reduce the risk of operator errorfrom entering the wrong information or from misplacing any documentsthat the operator may use to enter information about the shipments 30,which may reduce the number of shipments 30 that are lost or delayed.

Further, the readers 52 may experience jitter or other error in readingthe forklift and shipment tags 22, 32. By verifying that the weight ofthe load on the forklift 20 is above a threshold before determining thatthe shipment 30 is loaded onto the forklift 20, the tracking system 50may avoid falsely indicating that the shipment 30 is loaded when theshipment 30 may actually be positioned next to the forklift 20 and notloaded.

Monitoring the weight of the load carried by the forklift 20 may alsoalert the worksite computer system 40 that a shipment 30 has been loadedonto the forklift 20 even though the worksite computer system 40 has notdetermined that the shipment 30 entered the geofence G, e.g., due tojitter or other error. Also, the worksite computer system 40 maydynamically adjust the size of the geofence G when a load is detected onthe forklift 20, but no shipment 30 has entered the geofence G. Thus,the worksite computer system 40 may automatically detect the loading ofshipments 30 of non-standard size.

Although the embodiments described above relate to tracking forklifts20, it is to be understood that the tracking system 50 may also performsimilar steps to track other vehicles or machines and the loads thatthose vehicles or machines may carry. The worksite computer system 40may then create geofences G that correspond to the size and location ofa load carried by the vehicle or machine as known in the art.

It will be apparent to those skilled in the art that variousmodifications and variations can be made to the methods and systemsdescribed above. Other embodiments will be apparent to those skilled inthe art from consideration of the specification and practice of thedisclosed methods and systems. It is intended that the specification andexamples be considered as exemplary only, with a true scope beingindicated by the following claims and their equivalents.

What is claimed is:
 1. A system for tracking objects, comprising: areader configured to obtain information from a device associated with anobject; a transceiver configured to receive, from an object transportvehicle, a size of a geofence associated with a loading area of theobject transport vehicle; and a controller, communicatively connected tothe reader and the transceiver, configured to: determine a location ofthe object based on the information received by the reader; determinewhether the object is located within the geofence based on thedetermined location of the object; and provide an indication that theobject has been loaded on the object transport vehicle when the objectis located within the geofence.
 2. The system of claim 1, wherein thesize of the geofence is based on at least one characteristic of theobject transport vehicle.
 3. The system of claim 1, wherein the size ofthe geofence is based on a pallet size.
 4. The system of claim 1,wherein the size of the geofence is based on at least one characteristicof at least one load carried by the object transport vehicle.
 5. Thesystem of claim 4, wherein the at least one characteristic includes aposition and a size of the at least one load on the object transportvehicle.
 6. The system of claim 1, wherein the controller is furtherconfigured to: modify the size of the geofence to a new size; andprovide the new size to the object transport vehicle.
 7. The system ofclaim 1, wherein the device includes a tag, and the reader is configuredto read the tag to obtain the information.
 8. The system of claim 7,wherein the information includes at least one of a strength of a signalreceived from the tag or an angle of the signal received from the tag.9. The system of claim 8, wherein the controller determines the locationof the object based on at least one of the strength or the angle of thesignal received from the tag.
 10. The system of claim 1, wherein thedevice includes at least one global positioning system device configuredto provide location information of the object.
 11. The system of claim10, wherein the controller is configured to modify the size of thegeofence when the weight is greater than the threshold and thecontroller determines that the object is not within the geofence. 12.The system of claim 1, wherein the transceiver is configured to receivea weight of a load transported by the object transport vehicle.
 13. Thesystem of claim 12, wherein the controller is configured to determinewhether the object has been loaded onto the object transport vehiclebased on the weight.
 14. An object transport vehicle, including: aposition sensor configured to determine a location of the vehicle; and acontroller, configured to generate a geofence associated with thevehicle based on the location and a size of the geofence based on acharacteristic of the vehicle; and a display configured to display boththe location of the vehicle and the geofence.
 15. The object transportvehicle of claim 14, wherein the characteristic includes at least one ofa length or a width of the object transport vehicle.
 16. The objecttransport vehicle of claim 14, wherein the controller is configured todetermine the size of the geofence based on a pallet size.
 17. Theobject transport vehicle of claim 14, wherein the controller isconfigured to determine the size of the geofence based on at least oneof a size or a location of an object carried by the object transportvehicle.
 18. The object transport vehicle of claim 14, wherein thecontroller is configured to generate the geofence by: determining acenter point of the vehicle; positioning a center of the geofence at apredetermined distance from the center point along a longitudinal axisof the vehicle; positioning the geofence symmetrically about the centerpoint of the vehicle and the center of the geofence.
 19. The objecttransport vehicle of claim 18, further including a compass, and whereinthe controller is further configured to: determine, using the compass, adirection of travel of the object transport vehicle; and position thecenter of the geofence at the predetermined distance in the direction oftravel.
 20. The object transport vehicle of claim 14, where the vehicleis an autonomous vehicle.